From 3c5e47102164b92dbd57b27f63a5e0b7ad24fed2 Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Mon, 4 Dec 2023 11:14:40 +0900
Subject: [PATCH] [jsk_pr2_lifelog] add time related options for rosbag_play

---
 .../jsk_pr2_startup/jsk_pr2_lifelog/rosbag_play.launch      | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/rosbag_play.launch b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/rosbag_play.launch
index c07e63b14a..b0a0035736 100644
--- a/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/rosbag_play.launch
+++ b/jsk_pr2_robot/jsk_pr2_startup/jsk_pr2_lifelog/rosbag_play.launch
@@ -6,6 +6,10 @@
   <arg name="gui" default="false" />
   <arg name="loop_flag" value="--loop" if="$(arg loop)" />
   <arg name="loop_flag" value="" unless="$(arg loop)" />
+  <arg name="start_time" default="0" />
+  <arg name="duration_time" default="0" />
+  <arg name="duration" default="--duration $(arg duration_time)" if="$(eval duration_time != 0)" />
+  <arg name="duration" default="" if="$(eval duration_time == 0)" />
 
   <arg name="RGB_CAMERA_INFO" value="/kinect_head/rgb/throttled/camera_info" />
   <arg name="RGB_IMAGE" value="/kinect_head/rgb/throttled/image_rect_color" />
@@ -78,7 +82,7 @@
 
   <!-- rosbag player -->
   <node pkg="rosbag" type="play" name="rosbag_play"
-        args="$(arg rosbag) $(arg loop_flag) --clock" output="screen" />
+        args="$(arg rosbag) $(arg loop_flag) --clock --start $(arg start_time) $(arg duration)" output="screen" />
 
   <node pkg="rviz" type="rviz" name="$(anon rviz)" if="$(arg gui)"
         args="-d $(find jsk_pr2_startup)/config/jsk_startup.rviz" />